Didier Wolf

Compared Performance of High-Sensitivity Cameras Dedicated to Myocardial Perfusion SPECT: A Comprehensive Analysis of Phantom and Human Images

Differences in the performance of cadmium-zinc-telluride (CZT) cameras or collimation systems that have recently been commercialized for myocardial SPECT remain unclear. In the present study, the performance of 3 of these systems was compared by a comprehensive analysis of phantom and human SPECT images. Methods: We evaluated the Discovery NM 530c and DSPECT CZT cameras, as well as the Symbia Anger camera equipped with an astigmatic (IQ⋅SPECT) or parallel-hole (conventional SPECT) collimator. Physical performance was compared on reconstructed SPECT images from a phantom and from comparable groups of healthy subjects. Results: Classifications were as follows, in order of performance. For count sensitivity on cardiac phantom images (counts⋅s−1⋅MBq−1), DSPECT had a sensitivity of 850; Discovery NM 530c, 460; IQ⋅SPECT, 390; and conventional SPECT, 130. This classification was similar to that of myocardial counts normalized to injected activities from human images (respective mean values, in counts⋅s−1⋅MBq−1: 11.4 ± 2.6, 5.6 ± 1.4, 2.7 ± 0.7, and 0.6 ± 0.1). For central spatial resolution: Discovery NM 530c was 6.7 mm; DSPECT, 8.6 mm; IQ⋅SPECT, 15.0 mm; and conventional SPECT, 15.3 mm, also in accordance with the analysis of the sharpness of myocardial contours on human images (in cm−1: 1.02 ± 0.17, 0.92 ± 0.11, 0.64 ± 0.12, and 0.65 ± 0.06, respectively). For contrast-to-noise ratio on the phantom: Discovery NM 530c had a ratio of 4.6; DSPECT, 4.1; IQ⋅SPECT, 3.9; and conventional SPECT, 3.5, similar to ratios documented on human images (5.2 ± 1.0, 4.5 ± 0.5, 3.9 ± 0.6, and 3.4 ± 0.3, respectively). Conclusion: The performance of CZT cameras is dramatically higher than that of Anger cameras, even for human SPECT images. However, CZT cameras differ in that spatial resolution and contrast-to-noise ratio are better with the Discovery NM 530c, whereas count sensitivity is markedly higher with the DSPECT.

Mosaicing of Bladder Endoscopic Image Sequences: Distortion Calibration and Registration Algorithm

Cancers located on the internal wall of bladders can be detected in image sequences acquired with endoscopes. The clinical diagnosis and follow-up can be facilitated by building a unique panoramic image of the bladder with the images acquired from different viewpoints. This process, called image mosaicing, consists of two steps. In the first step, consecutive images are pairwise registered to find the local transformation matrices linking geometrically consecutive images. In the second step, all images are placed in a common and global coordinate system. In this contribution, a mutual information-based similarity measure and a stochastic gradient optimization method were implemented in the registration process. However, the images have to be preprocessed in order to register the data in a robust way. Thus, a simple correction method of the distortions affecting endoscopic images is presented. After the placement of all images in the global coordinate system, the parameters of the local transformation matrices are all adjusted to improve the visual aspect of the panoramic images. Phantoms are used to evaluate the global mosaicing accuracy and the limits of the registration algorithm. The mean distances between ground truth positions in the mosaiced image range typically in 1-3 pixels. Results given for in vivo patient data illustrate the ability of the algorithm to give coherent panoramic images in the case of bladders.

The dead reckoning localization system of the wheeled mobile robot ROMANE

This paper describes the dead reckoning localization system of the wheeled mobile robot ROMANE (Robot Mobile Autonome de Navigation de Exterieur). We are interested in quantifying the vehicle position estimation in an outdoor environment. The accuracy of position estimation by incremental shaft encoders on the wheels is very limited due to the poor quality of the rotational vehicle speed measurements. This paper shows how dead reckoning localization can be improved by the additional use of a gyroscope and a magnetic compass which are both also low cost sensors giving real-time information. We have developed a technique for compensation of magnetic field influences due to the robot itself under consideration of the vehicle dynamics the robot state is estimated by an extended Kalman filter which is developed for sequential data processing in order to reduce the computation time and to make the algorithm more flexible. Experimental results show the efficiency of our low cost dead reckoning localization system.

Capture of homotopy classes with probabilistic road map

Feasibility tests in virtual reality for nuclear power plant maintenance or dismantling operations are a source of problems for motion planning because finding a way in a cluttered environment is not easy for the bulky loads, mobile devices and robots used in such operations. Standard probabilistic roadmap methods (PRM) have been successfully used to answer such feasibility problems. These methods provide, at the most a single solution but do not provide a complete overview of the possible motions which have to be evaluated in a complete engineering task. We focus here on the open question of building probabilistic roadmaps which can provide an exhaustive list of all the solutions which can not be distorted from one to another while staying collision free. We call such roadmaps homotopy preserving probabilistic roadmap (HPPR). We propose a new algorithm for creating HPPR.

Fast construction of panoramic images for cystoscopic exploration.

Cystoscopy is used as a reference clinical examination in the detection and visualization of pathological bladder lesions. Evolution observation and analysis of these lesions is easier when panoramic images from internal bladder walls are used instead of video sequences. This work describes a fast and automatic mosaicing algorithm applied to cystoscopic video sequences, where perspective geometric transformations link successive image pairs. This mosaicing algorithm begins with a fast initialization of translation parameters computed by a cross-correlation of images, followed by an iterative optimization of transformation parameters. Finally, registered images are projected onto a global common coordinate system. A quantifying test protocol applied over a phantom yielded a mosaicing mean error lower than 4 pixels for a 1947 x 1187 pixels panoramic image. Qualitative evaluation of 10 panoramic images resulting from videos of clinical cystoscopies was performed. An analysis performed over translation values from these clinical sequences (in vivo) is used to modify the mosaicing algorithm to be able to do a dynamic selection of image pairs. Construction time of panoramic images takes some minutes. At last, algorithm limits are discussed.

An automatic calibration method for a multisensor system: application to a mobile robot localization system

This paper describes an automatic calibration method for a multisensor system. Redundancy of sensor measurements is exploited in order to identify a priori unknown system parameters. The calibration method presented does not need any external reference, but is only based on constraint functions which describe the relations existing between the different sensor outputs. An application to a mobile robot dead reckoning localization system is developed, and validated by some experimental results.

A method of mobile robot localisation by fusion of odometric and magnetometric data

This paper presents the dead reckoning localisation technique of the robot ROMANE (“Robot Mobile Autonome de Navigation en Extérieur”) which is conceived to move outdoors on level roads without traffic. Vehicle localisation with incremental shaft encoders on the wheels is improved by integration of a magnetic compass into the robot system. Fusion of odometric and magnetometric data by Kalman filtering increases the accuracy of the estimated robot heading. Consequently the uncertainty of the vehicle position is reduced. To evaluate our localisation method we present some experimental results of trajectory estimations.

Flexible calibration of structured-light systems projecting point patterns

Structured-light systems (SLSs) are widely used in active stereo vision to perform 3D modelling of a surface of interest. We propose a flexible method to calibrate SLSs projecting point patterns. The method is flexible in two respects. First, the calibration is independent of the number of points and their spatial distribution inside the pattern. Second, no positioning device is required since the projector geometry is determined in the camera coordinate system based on unknown positions of the calibration board. The projector optical center is estimated together with the 3D rays originating from the projector using a numerical optimization procedure. We study the 3D point reconstruction accuracy for two SLSs involving a laser based projector and a pico-projector, respectively, and for three point patterns. We finally illustrate the potential of our active vision system for a medical endoscopy application where a 3D cartography of the inspected organ (a large field of view surface also including image textures) can be reconstructed from a video acquisition using the laser based SLS.

Digestive Activity Evaluation by Multichannel Abdominal Sounds Analysis

This paper introduces a complete methodology for abdominal sounds analysis, from signal acquisition to statistical data analysis. The goal is to evaluate if and how phonoenterograms can be used to detect different functioning modes of the normal gastrointestinal tract, both in terms of localization and of time evolution during the digestion. After the description of the acquisition protocol and the employed instrumentation, several signal processing steps are presented: wavelet denoising and segmentation, artifact suppression, and source localization. Next, several physiological features are extracted from the processed signals issued from a database of 14 healthy volunteers, recorded during 3 h after a standardized meal. Data analysis is performed using a multifactorial statistical method. Based on the introduced approach, we show that the abdominal regions of healthy volunteers present statistically significant phonoenterographic characteristics, which evolve differently during the normal digestion. The most significant feature allowing us to distinguish regions and time differences is the number of recorded sounds, but important information is also carried by sound amplitudes, frequencies, and durations. Depending on the considered feature, the sounds produced by different abdominal regions (especially stomach, ileocaecal, and lower abdomen regions) present a specific distribution over space and time. This information, statistically validated, is usable in further studies as a comparison term with other normal or pathological conditions.

Qualitative estimation of pelvic organ interactions and their consequences on prostate motion : Study on a deceased person

In an attempt to have better targeting of the prostate during radiotherapy it is necessary to understand the mechanical interactions between bladder, rectum, and prostate and estimate their consequences on prostate motion. For this, the volumes of bladder, rectum, and lungs were modified concomitantly on a deceased person. A CT acquisition was performed for each of these different pelvic configurations (36 acquisitions). An increase in the volume of the bladder or lungs induces a compression of tissues of the pelvic area from its supero-anterior (S-A) to infero-posterior (I-P) side. Conversely, an increase of rectum volume induces a compression from the I-P to the S-A side of the pelvic region. These compressive actions can be added or subtracted from each other, depending on their amplitudes and directions. Prostate motion occurs when a movement of the rectum is observed (this movement depends, itself, on lungs and bladder volume). The maximum movement of prostate is 9 mm considering maximal bladder or rectal action, and 11 mm considering maximum lung action. In some other cases, opposition of compressive effects can lead to stasis of the prostate. Based on the volumes of bladder, rectum, and lungs, it is possible to qualitatively estimate the movement of organs of the pelvic area. The best way to reduce prostate movement is to recommend the patient to have an empty rectum, with either full bladder and/or full lungs.